相关论文: Minimal Solutions for Relative Pose with a Single …

We propose three novel solvers for estimating the relative pose of a multi-camera system from affine correspondences (ACs). A new constraint is derived interpreting the relationship of ACs and the generalized camera model. Using the…

Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

We present a novel method to compute the relative pose of multi-camera systems using two affine correspondences (ACs). Existing solutions to the multi-camera relative pose estimation are either restricted to special cases of motion, have…

The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…

In this paper, we aim to estimate the relative pose and focal length between two views with known intrinsic parameters except for an unknown focal length from two affine correspondences (ACs). Cameras are commonly used in combination with…

A minimal solution using two affine correspondences is presented to estimate the common focal length and the fundamental matrix between two semi-calibrated cameras - known intrinsic parameters except a common focal length. To the best of…

We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…

Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…

Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention…

This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…

How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation. The prevailing RANSAC method necessitates that the minimal point pairs be inliers. This paper introduces a linear relative…

An approach is proposed for recovering affine correspondences (ACs) from orientation- and scale-invariant, e.g. SIFT, features. The method calculates the affine parameters consistent with a pre-estimated epipolar geometry from the point…

We propose a new approach for combining deep-learned non-metric monocular depth with affine correspondences (ACs) to estimate the relative pose of two calibrated cameras from a single correspondence. Considering the depth information and…

In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…

We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…

We propose a minimal solution for pose estimation using both points and lines for a multi-perspective camera. In this paper, we treat the multi-perspective camera as a collection of rigidly attached perspective cameras. These type of…

Local features e.g. SIFT and its affine and learned variants provide region-to-region rather than point-to-point correspondences. This has recently been exploited to create new minimal solvers for classical problems such as homography,…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in…